Command Reference
MagnaTran 7.1 User’s Manual
Description
MN-003-1600-00
Brooks Automation
8-4
Revision 2.2
Background Plus Mode
The Background Plus mode works exactly like the background mode except
for one addition; when the action command is done, the prompt _BKGRDY is
returned. If an error occurred during the background action command, then a
_BKGERR response with the error number or error string (depending on
packet or monitor mode) is returned along with the prompt _BKGRDY on the
next line. Thus the robot does not need to be polled with RQ BG to determine
if an action has been completed. A CDM warning will be displayed as _ERR
instead of _BKGERR.
e.g.
_BKGRDY
goto n 1
_RDY
_BKGERR #### (if an error occurs)
_BKGRDY (when the action completes)
Operating Modes
The MagnaTran 7 provides two modes for serial communications with the robot.
There is a “user friendly” mode referred to as “Monitor Mode” and a “computer
friendly” mode referred to as “Packet Mode”. Sequential or background operation
can be selected when using either communications mode.
Monitor Mode
Monitor mode is a “user friendly” communications mode. All responses from
the MagnaTran 7 are descriptive and easy to understand. This mode is best
used when a person is communicating with the robot through a terminal. A
typical sequence of communications in Monitor Mode appears below.
:RQ COMM ALL
COMM
M/B --------------- MON
FLOW ------------- BKG
LF------------------- -ON
ECHO---------------ON
CHECKSUM------XXXXXXXX
DREP REQ
ERROR LEVEL----X
BAUD RATE_____XXXXXX
